This paper deals with the automated creation of ge-
ometric and photometric correct 3-D models of the
world. Those models can be used for virtual reality, tele–
presence, digital cinematography and urban planning ap-
plications. The combination of range (dense depth esti-
mates) and image sensing (color information) provides
data–sets which allow us to create geometrically correct,
photorealistic models of high quality.